re: Consumers should be able to buy vehicles directly from the factory

And exactly what would change for the customer? The costs of the dealership are incurred because they provide a value to the consumer and a necessary touch point/buffer between the consumer and car maker. Eliminate the dealer and those things the dealer provided would now be the burden of the manufacturer and the cost of that burden would still be passed to the consumer.
You assume falsely that the cost of a Tesla would be more if there was a dealer involved when it is likely exactly the same. The difference is that Tesla is just getting both the profit on the manufacturing and the sale of car. Their choice to do this was based on “speed to market” not fairness or benefit to consumer.